navigation_launch.py does not use params_file parameter

[slowrunner]

Bug report: navigation_launch.py does not use params_file passed on command line

• Operating System: Ubuntu 22.04.3
• ROS2 Version: Humble apt install
• Version or commit hash: ros-humble-navigation2 1.1.12-1jammy.20231006.063129
• DDS implementation: default
  • dpkg -l | grep fastrt

    ii  ros-humble-fastrtps                               2.6.6-1jammy.20230919.195413            arm64        *eprosima Fast DDS* (formerly Fast RTPS) is a C++ implementation of the DDS (Data Distribution Service) standard of the OMG (Object Management Group).

Steps to reproduce issue

I want to lower some velocities by passing a local my_nav2_params.yaml file, which is a modified copy of /opt/ros/humble/share/nav2_bringup/params/nav2_params.yaml.

$ diff my_nav2_params.yaml /opt/ros/humble/share/nav2_bringup/params/nav2_params.yaml 
145,147c145
<       # changed for GoPiGo3
<       # max_vel_x: 0.26
<       max_vel_x: 0.1
---
>       max_vel_x: 0.26
151,153c149
<       # changed for GoPiGo3
<       # max_speed_xy: 0.26
<       max_speed_xy: 0.1
---
>       max_speed_xy: 0.26
346,351c342,343
<     # changed for GoPiGo3
<     # max_velocity: [0.26, 0.0, 1.0]
<     max_velocity: [0.1, 0.0, 1.0]
<     # changed for GoPiGo3
<     # min_velocity: [-0.26, 0.0, -1.0]
<     min_velocity: [-0.1, 0.0, -1.0]
---
>     max_velocity: [0.26, 0.0, 1.0]
>     min_velocity: [-0.26, 0.0, -1.0]

This does not do the trick as documented in the nav2 docs:

ros2 launch nav2_bringup navigation_launch.py params_file:=/home/ubuntu/HumbleDave/ros2ws/my_nav2_params.yaml

The docs suggest this is the correct command

Expected behavior

• Navigating to a goal will proceed at a maximum of 0.1m/s

Actual behavior

• Navigation to a goal proceeds at 0.26 m/s (stopping too fast will tip robot over)

Additional information

I do not want to edit the default nav2_params.yaml, nor put my_nav2_params.yaml in /opt/ros/humble/share... I want to use the my_nav2_params.yaml file in my ~/ros2ws/

[SteveMacenski]

I see you previously filed on robotics stack exchange. People do not crosspost.

[slowrunner]

I posted on robotics stack exchange when I thought it was my inexperience with the package. Then I found the exact command I was using in the nav2 package documentation, which led me to believe this is a defect, not my lack of knowledge, thus "People do not cross post", unless further evidence suggests this is the correct place for this issue. I have removed the post from stack.